Kollmorgen Housed Direct Drive Rotary (DDR) Motors Selection …€¦ · Kollmorgen Housed Direct Drive Rotary (DDR) Motors Selection Guide with AKD TM Servo Drive Systems. Kollmorgen

Kollmorgen Housed Direct Drive Rotary (DDR) Motors

Selection Guide

with AKDTM Servo Drive Systems

Kollmorgen.Every solution comes from a real understanding of the challenges facing machine designers and users.The ever-escalating demands of the marketplace mean increased pressure on machine designers and users at every turn. Time constraints. Demands for better performance. Having to think about the next-generation machine even before the current one is built. While expectations are enormous, budgets are not. Kollmorgen’s innovative motion solutions and broad range of quality products help engineers not only overcome these challenges but also build truly differentiated machines.

Because motion matters, it’s our focus. Motion can distinctly differentiate a machine and deliver a marketplace advantage by improving its performance. This translates to overall increased effi ciency on the factory fl oor. Perfectly deployed machine motion can make your customer’s machine more reliable and effi cient, enhance accuracy and improve operator safety. Motion also represents endless possibilities for innovation. We’ve always understood this potential, and thus have kept motion at our core, relentlessly developing products that offer precision control of speed, accuracy and position in machines that rely on complex motion.

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Removing the Barriers of Design, Sourcing, and TimeAt Kollmorgen, we know that OEM engineers can achieve a lot more when obstacles aren’t in the way. So, we knock them down in three important ways:

Integrating Standard and Custom ProductsThe optimal solution is often not clear-cut. Our application expertise allows us to modify standard products or develop totally custom solutions across our whole product portfolio so that designs can take fl ight.

Providing Motion Solutions, Not Just ComponentsAs companies reduce their supplier base and have less engineering manpower, they need a total system supplier with a wide range of integrated solutions. Kollmorgen is in full response mode with complete solutions that combine programming software, engineering services and best-in-class motion components.

Global FootprintWith direct sales, engineering support, manufacturing facilities, and distributors spanning the Americas, Europe, Middle East, and Asia, we’re close to OEMs worldwide. Our proximity helps speed delivery and lend support where and when they’re needed.

Financial and Operational StabilityKollmorgen is part of Danaher Corporation. A key driver in the growth of all Danaher divisions is the Danaher Business System, which relies on the principle of “kaizen” – or continuous improvement. Using world-class tools, cross-disciplinary teams of exceptional people evaluate processes and develop plans that result in superior performance.

uHoused Direct Drive Rotary® (DDR) Motor 4

uDirect Drive Technology 8

uAKDTM Servo Drive 10

uCo-Engineering Capabilities 14

uHoused DDR Motor System Summary 15

uHoused DDR Drawings and Perfomance Data

D(H)06x 16

D(H)08x 20

D(H)10x 24

D(H)14x 28

u Custom Applications 32

u Application Notes 33

u Model Nomenclature 34

u MOTIONEERING® Application Engine 35

Table of Contents

H O U S E D D I R E C T D R I V E R O T A R Y M O T O R S S E L E C T I O N G U I D E

uMOTiONEERiNG® Application Engine 77

global support • global development and m

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Housed Direct Drive Rotary (DDR) MotorOur Housed Direct Drive Rotary (DDR) motor series offer a high performance, zero maintenance servo solution. They achieve very high torque density through the combination of large diameter, short length, and a high number of magnetic poles.

By pairing the Housed DDR motor series with our wide range of plug-and-play Ethernet-based AKD™ servo drives, you can optimize performance and increase the machine’s overall effectiveness. The DDR motor can be used as a flexible indexer, providing programmable, rapid, indexing far exceeding the throughput of conventional mechanical or variable reluctance technology indexers. It can also be used for replacing mechanical transmissions such as gearboxes, timing belts, and rack and pinion reducers.

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The Benefits of Housed DDR Motor

• Zero Maintenance with Greater Accuracy and Higher Bandwith • Smoother velocity and reduced, audible noise

• Power transmission without backlash

• Transmission elements such as couplings, toothed belts, spindles, and other fitted components can be eliminated

• No gearboxes, no lubrication required

• Wide Range of Sizes and Torque to Cover any Direct Drive Rotary (DDR) Application

• Increased performance for the entire system

• Flat, compact drive solution

• Easily mix / match motors and drives (without serial numbers)

• Speeds up to 800 rpm for continuous velocity applications

•Simplified, High Torque Density Permanent Magnet Design • Provides more speed and torque vs. variable reluctance motors

• Rapid indexing of large inertia loads with peak torque up to 990 lb-ft

• Carry heavy loads for indexing with axial loading up to 12,700 lbs

• Operate motor with significant offset loads up to 472 lb-ft

• Large through bore providing run process fluids, pneumatic, andelectrical through center of motor

• Reduced audible noise, fewer parts and lower cost of ownership

• More compact machine and reduced design time


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Motor Gearbox

Motor

Application Problem Solution Benefits

Belt/pulley• Zero maintenance• No belt adjustment/replacement• No belt compliance• Better servo performance• Clean mechanical assembly• Flat profile• Quiet• Reduced number of parts• Hollow shaft

Gearmotors/right angle/in-line• Zero maintenance• No gearbox lubrication• No gearbox backlash• Better servo performance• Flat profile• Quiet• Hollow shaft

Large Vertical Wheel• Zero maintenance• No belt adjustment/replacement• No belt compliance• Better servo performance• Faster index times• Clean mechanical assembly• Quiet• Reduced number of parts• Hollow shaft

Rotary Indexer• Zero maintenance• No gearbox lubrication• No gearbox backlash• Better servo performance• Quiet• Reduced number of parts• Hollow shaft

DDR

DDR

DDR

DDR

Housed Direct Drive Rotary (DDR) Motor


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Housed DDR motors are multi-pole (16 to 32) hollow shaft motors with their own bearings and high-resolution encoder system. They are coupled directly to the load and enable very precise and repeatable systems. Housed DDR motors are maintenance free and run more quietly and with better dynamics than systems that use gears, belts, cams or other mechanical transmission components.

Realized Housed DDR Motor Benefits

The Direct Drive Advantage

The following improvements were observed compared to the previous design that used a mechanical indexer:

Improved Repeatability

The Housed DDR motor demonstrated a repeatability better than 1 arc-second which was substantially better than the mechanical indexer.

No Degradation

Direct drive system performance, accuracy and repeatability do not degrade over time as they do with a mechanical indexer. With a mechanical indexer, as parts wear over time, the accuracy and repeatability degrade.

Immediate Stop

The direct drive system can immediately stop if there is a process error. The mechanical indexer required several cycles to stop which could cause tooling and machine damage.

Greatly Reduced Audible Noise

With the mechanical indexer, the noise was at a level such that two people would have to yell to hear each other. By contrast, if you turned your back to the Housed DDR motor, you could barely detect that it was running.

Easy Profile Change

Motion parameters such as index angle, speed, acceleration, and dwell are very simple to change with the Housed DDR motor. The mechanical indexer does not support flexible motion profiles.

Better Value

The Housed DDR motor is attractively priced compared to the mechanical indexer it replaced. When the other advantages listed above are also considered, the Housed DDR motor was the obvious choice.

Housed DDR Features

• 4 frame sizes

• Robust cross-roller bearing

• Dual bearing option

• IP67 option

• Continuous torque range: 5.8 Nm (4.3 lb-ft) to 339 Nm (250 lb-ft)

• Optimized torque output with high-pole count efficient electromagnetic design

• Integrated high-resolution sine-encoder

• 134,217,728 counts per rev resolution, 27 bits

• Feedback accuracy: +/- 26 arc-sec

• Repeatability better than 1 arc second

Housed DDR Motor Advantage

Consider how a Housed DDR motor improved a medical manufacturing machine.

Product is located at the steel pins on the outside of the machine’s turret as shown. The 115 kg load wheel has an inertia of 20 kg-m2. There are 96 steel pins for an index angle of 3.5 degrees to move. The move is accomplished in less than 100 ms.

Housed DDR Benefits

• Transmission elements such as couplings, toothed belts, spindles, and other fitted components can be eliminated

• Mechanical design is made much simpler

• Power transmission without backlash

• More compact machinery assemblies

• Increased performance for the entire system


Direct Drive Technology (DDT)

Conventional servo systems commonly have a mechanical transmission which can consist of gears, gearheads, belts/pulleys or cams connected between the motor and the load.

With Direct Drive Technology, the mechanical transmission is eliminated and the motor is coupled directly to the load.

Why Use Direct Drive Technology?

Increased Accuracy and Repeatability

A “precision” planetary gearhead could have a backlash of 1 arc-minute. This can result in the load moving by 1 arc-minute with an absolutely stationary drive motor. Kollmorgen’s standard direct drive rotary (DDR) servomotors have repeatability better than 1 arc-second. Therefore, a direct drive motor can hold a position 60 times better than a conventional motor/gearhead.

The increased accuracy of direct drive technology results in a higher quality product out of the machine:

• Print registration is more accurate• Cut or feed lengths can be held more precisely • Coordination with other machine axes is more accurate• Indexing location is more exact• Tuning issues due to backlash are eliminated

Higher Bandwidth

Mechanical transmission components impose a limit on how fast a machine can start and stop and also extend the required settling time. These factors limit the possible throughput of a machine.

Direct drive technology removes these limitations and allows for much fasterstart/stop cycles and also provides greatly reduced settling time. This will allow a greater throughput from the machine. Users of direct drive systems have reported up to a 2X increase in throughput.

Improved Reliability and Zero Maintenance

Gears, belts, and other mechanical transmission parts break. By eliminating these parts and using DDR motors, the reliability of the machine is improved. Gearheads require periodic lubrication and/or replacement in aggressive start/stop applications. Belts require periodic tightening. There are no time-wear components in a direct drive motorand consequently they require zero maintenance.

Servomotor and Gearhead

Direct Drive Motor

Improved Repeatability

Increased Throughput

Gearbox

Motor

GearboxBacklash

DDRRepeatability60 Times Better

Arc

Minutes

1

0

-1

Conventional RotaryServo with MechanicalTransmission

DDR motors provide higherthroughput because start/stoplimitations of mechanicaltransmissions are eliminated

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Fewer Parts

With direct drive motors, all you need is the motor and the mounting bolts. This often replaces many parts including brackets, guards, belts, pulleys, tensioners, couplings, and bolts, resulting in:

• Fewer parts on the BOM. Less parts to purchase, schedule, inventory and control, and less parts to assemble.• Assembly time of the servo drops from several hours with the mechanical transmission to several minutes with the DDR.• Reduced cost. Although a direct drive motor may carry a small price-premium compared to a motor/gearhead with the same torque, consider that there is an overall cost reduction when eliminating the parts and labor of all the extra components required in a servo system with mechanical transmission.

No Inertia Matching

Servo systems with mechanical transmissions require inertia matching that limits the refl ected load inertia at 5 to 10 times the motor inertia. If this limitation is not met, the system becomes diffi cult to control due to instability issues. Inertia matching limitations of mechanical transmission systems often force machine designers to use a larger motor than would otherwise be required just to satisfy the inertia matching requirement.

Such sizing conventions are not required with direct drive technology. Since the motor is directly connected to the load, the inertia of the motor and the load become a common inertia. Therefore, no inertia matching is required when using DDR. DDR applications have run with inertia ratios greater than 11,000:1.

Reduced Audible Noise

Machines with DDR motors have audible noise levels as low as 20 dB less than the same machine with a mechanical transmission.

Three DDR Product Categories to Choose From

Kollmorgen’s 50 years of electromagnetic and electromechanical design experience combined with our quality and service, allowed us to refi ne and expand DDR technology into three product categories for easy installation, use, and short lead times: Frameless DDR, Housed DDR, and the Cartridge DDR. This allows you to select the right DDR solution for your application.

KBM Series Frameless DDR

Frameless motors include a rotor and stator as separate components which are integrated into, ride on the bearings of, and become a part of the driven load. Frameless motors offer the most compact and lightweight DDR solution available. The “F” series is Kollmorgen’s latest Frameless DDR product. It provides excellent torque/volume with the use of a proprietary neodymium-iron magnet rotor structure and skewed armature assembly. The F series is the fi rst UL recognized parts set available on the market. This provides OEMs with the benefi ts of UL component ratings for easier agency approval on their machines.

Housed DDR

The Housed DDR is a housed motor assembly featuring a factory aligned high-resolution feedback device and precision bearings, allowing it to function as the core of rotary indexing and rate table applications. The system can also be used as a fl exible indexer, providing programmable, rapid indexing far exceeding the throughput and accuracy of conventional mechanical or variable reluctance technology indexers.

Cartridge DDR

This motor is the fi rst in the industry to combine the space-saving and performance advantages of Frameless DDR technology with the ease of installation of a full-frame motor. Consisting of a rotor, stator, and factory-aligned high-resolution feedback device, the motor uses the machine’s bearings to support the rotor. An innovative compression coupling engages the rotor to the load and the frame of the motor mounts to the machine with a bolt circle and pilot diameter just like a conventional servomotor, saving space and design time and simplifying the overall system.

Format Where Used

Frameless DDR Application where size and weightmust be absolutely minimized

Housed DDR Applications where the load rides on the motor’s bearings such as indexing or rate tables

Cartridge DDR Any application with existing bearings

Format Where Used

Ironless (IL) Series Applications requiring zero cogging or high acceleration of low mass loads

Ironcore (IC or ICD) Series Applications requiring highest thrust forces for their size

Water-cooled (IC) Series Applications requiring the highest possible force

DDR Applications

Direct Drive Linear (DDL) Motor

Directly coupling a linear motor to the driven load offers many advantages, including eliminating all mechanical transmissions, such as ball/lead screws, rack & pinions, belts/pulleys, and eliminating gearboxes. This in turn also eliminates backlash and compliance, and other problems associated with these mechanical transmissions.

DDL Applications

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AKD Servo Drive

K O L L M O R G E N | A DA N A H E R M O T I O N C O M PA N YK O L L M O R G E N

AKD™ Servo DriveOur AKD series is a complete range of Ethernet-based servo drives that are fast, feature-rich, fl exible and integrate quickly and easily into any application. AKD ensures plug-and-play commissioning for instant, seamless access to everything in your machine. And, no matter what your application demands, AKD offers industry-leading servo performance, communication options, and power levels, all in a smaller footprint.

This robust, technologically advanced family of drives delivers optimized performance when paired with our best-in-class components, producing higher quality results at greater speeds and more uptime. With Kollmorgen servo components, we can help you increase your machine’s OEE by 50%.

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The Benefi ts of AKD Servo Drive• Optimized Performance in Seconds • Auto-tuning is one of the best and fastest in the industry

• Automatically adjusts all gains, including observers

• Immediate and adaptive response to dynamic loads

• Precise control of all motor types

• Compensation for stiff and compliant transmission and couplings

• Greater Throughput and Accuracy • Up to 27-bit-resolution feedback yields unmatched precision and excellent repeatability

• Very fast settling times result from a powerful dual processor system that executes industry-leading and patent pending servo algorithms with high resolution

• Advanced servo techniques such as high-order observer and bi-quad fi lters yield industry-leading machine performance

• Highest bandwidth torque-and-velocity loops. Fastest digital current loop in the market

• Easy-to-use Graphical User Interface (GUI) for Faster Commissioning and Troubleshooting

• Six-channel real-time software oscilloscope commissions and diagnoses quickly

• Multi-function Bode Plot allows users to quickly evaluate performance

• Auto-complete of programmable commands saves looking up parameter names

• One-click capture and sharing of program plots and parameter settings allow you to send machine performance data instantly

• Widest range of programming options in the industry

• Flexible and Scalable to Meet any Application • 3 to 24 Arms continuous current; 9 to 48 Arms peak

• Very high power density enables an extremely small package

• True plug-and-play with all standard Kollmorgen servomotors and actuators

• Supports a variety of single and multi-turn feedback devices— Smart Feedback Device (SFD), EnDat2.2, 01, BiSS, analog Sine/ Cos encoder, incremental encoder, HIPERFACE®, and resolver

• Tightly integrated Ethernet motion buses without the need to add large hardware: EtherCAT®, SynqNet®, Modbus/TCP, EtherNet/IP, PROFINET, and CANopen®

• Scalable programmability from base torque-and-velocity through multi-axis master


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The AKD servo drive delivers cutting-edge technology and performance with one of the most compact footprints in the industry. These feature-rich drives provide a solution for nearly any application, from basic torque-and-velocity applications, to indexing, to multi-axis programmable motion with embedded Kollmorgen Automation Suite. The versatile AKD sets the standard for power density and performance.

Multi-Axis Precision Tables

Linear Actuators

Direct Drive Linear Motors*

Micron™ Gearheads

AKM™ Servomotors

Kollmorgen Cartridge DDR™ Motors

Housed Direct Drive Rotary Motors

Best-in-Class Components

AKD works seamlessly with Kollmorgen

motors and actuators–well-known

for quality, reliability, and performance.

AKD™ Servo Drive

AKD Servo Drive


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120 / 240 Vac1 & 3 Phase(85 -265 V)

ContinuousCurrent(Arms)

PeakCurrent(Arms)

Drive Continuous Output Power

Capacity(Watts)

Internal Regen(Watts) (Ohms)

Heightmm(in)

Widthmm(in)

Depthmm(in)

Depth with CableBend Radius

mm(in)

AKD-n00306 3 9 1100 0 0 168(6.61)

57(2.24)

153(6.02)

184(7.24)

AKD-n00606 6 18 2000 0 0 168(6.61)

57(2.24)

153(6.02)

184(7.24)

AKD-n01206 12 30 4000 100 15 195(7.68)

76(2.99)

186(7.32)

215(8.46)

AKD-n02406 24 48 8000 200 8 250(9.84)

100(3.94)

230(9.06)

265(10.43)

240/480 Vac3 Phase

(187-528 V)

ContinuousCurrent(Arms)

PeakCurrent(Arms)

Drive Continuous Output Power

Capacity(Watts)

Internal Regen(Watts) (Ohms)

Heightmm(in)

Widthmm(in)

Depthmm(in)

Depth with CableBend Radius

mm(in)

AKD-n00307 3 9 2000 100 33 256(10.08)

70(2.76)

186(7.32)

221(8.70)

AKD-n00607 6 18 4000 100 33 256(10.08)

70(2.76)

186(7.32)

221(8.70)

AKD-n01207 12 30 8000 100 33 256(10.08)

70(2.76)

186(7.32)

221(8.70)

AKD-n02407 24 48 16,000 200 23 310(12.20)

105(4.13)

229(9.02)

264(10.39)

S748 48 96 35,000 – – 385(15.16)

190(7.48)

244(9.61)

285(11.22)

S772 72 140 50,000 – – 385(15.16)

190(7.48)

244(9.61)

285(11.22)

Industry-leading power density

General Specifi cations

Modbus/TCP

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Note: For complete AKD model nomenclature, refer to page 34.


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Because Kollmorgen offers the highest quality and broadest range of best-in-class motion components, we can supply standard, modifi ed or customized solutions to meet any application need.

We have co-engineer solutions to meet your most diffi cult challenges and advance your competitive position. Drawing on a wealth of knowledge and expertise, our engineering support team will work alongside with you to build a solution that differentiates your machine and improves your bottom line.

Here are just few examples of how Kollmorgen delivers real value to companies likes yours:

What You Need Why Motion Matters Kollmorgen Co-Engineering Results

30% Increase in Throughput • Low inertia servomotors

• High bandwidth servo loops

• Simple, accurate, graphical programming tools

Using the Kollmorgen Automation SuiteTM

graphical camming design tool, Pipe NetworkTM and low-inertia AKM servomotors, a major supplier of medical equipment increased throughput by more than 30% while improving accuracy and reducing scrap.

50% Increase in Accuracy and Quality • Low cogging servomotors

• Advaced observers and bi-quad fi lters

• Fast control loop update rates (.67μs)

Using our AKD servo drive, a next-generation CT scanning manufacturer achieved more than 50% improvement in velocity ripple to produce the most accurate and detailed medical images possible while overcoming an extremely high moment of inertia.

25% Increase in Reliability

(Overall Equipment Effectiveness)

• Innovative Cartridge Direct Drive RotaryTM DDR motor

• Eliminating parts on the machine

• No additional wearing components

Using Kollmorgen’s award-winning Cartridge DDR sevomotor technology, we eliminated more than 60 parts in a die-cutting machine and increased the OEE by 25% and throughput by 20%.

50% Reduction in Waste • Superior motor/drive system bandwidth

• DDR technology: – eliminates gearbox – 20X more accurate than geared solution

We helped a manufacturer of pharmaceutical packaging machines incorporate Housed DDR motors to increase the throughput by 35% and reduce scrap by more than 50% through more accurate alignment of the capsules.

Co-Engineering Capabilities


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Housed DDR Motor System Summary

Motor Outside / Inside Diameters by Model

D(H)06 D(H)08x D(H)10x D(H)14x

Performance Chart Page

AKD Servo Drive Performance

AKD-n0060X

AKD-n0120X

AKD-n0240X

Continuous Torque1 Peak TorqueMaximum

Speed

Nm lb-ft Nm lb-ft RPM

Hou

sed

DD

R M

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s

240

Volt

Syst

ems

D061 16 x 5.3 3.9 16.9 12.5 500

D062 16 x 9.8 7.2 33.5 24.7 500

D063 16 x 17.7 13.1 64.4 47.5 500

D081 20 x 15.9 11.7 45.0 33.2 500

D082 20 x 25.9 19.1 92.2 68.0 300

D083 20 x 50.4 37.2 160 118 250

D101 24 x 34.6 25.5 129 95.0 300

D102 24 x 63.4 46.7 227 167 200

D103 24 x 115 85.0 501 370 120

D141 28 x 108 80.0 367 271 200

D142 28 x 183 135 519 383 120

D143 28 x 339 250 1341 989 60

400

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tem

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DH061 17 x 5.3 3.9 16.9 12.5 800

DH062 17 x 9.8 7.2 33.5 24.7 800

DH063 17 x 17.7 13.1 64.4 47.5 800

DH081 21 x 15.9 11.7 45.0 33.2 500

DH082 21 x 25.9 19.1 92.2 68.0 500

DH083 21 x 50.4 37.2 160 118 500

DH101 25 x 34.6 25.5 129 95.0 300

DH102 25 x 63.4 46.7 227 167 300

DH103 25 x 115 85.0 501 370 250

DH141 29 x 108 80.0 367 271 300

DH142 29 x 183 135 519 383 300

DH143 29 x 339 250 1341 989 120

Note 1: Continuous torque with sine encoder feedback. For continuous torque with resolver feedback, see the Performance Data Table.

Motor Outside / Inside Diameters by Model


Notes:1. For 25°C ambient, multiply Tc by 1.06.2. Curves for 230 V applicable to single or three phase input power.

Housed DDR D06X Performance Data

RPM

lb-ft N-m

000

TORQ

UE

SYSTEM: D061 WITH AKD-n00606 AT 230 VAC

2

4

6

8

10

12

1410

8

6

4

2

16

18

20

100 200 300 400 500 600

12

14

(Sine Encoder)

(Resolver)

Intermittent Duty Zone

Continuous Duty Zone

RPM

lb-ft N-m

000

TORQ

UE


5

10

15

20

25

30

35

20

15

10

5

100 200 300 400 500 600

25

(Sine Encoder)

(Resolver)



RPM

lb-ft N-m

000

TORQ

UE


10

20

30

40

50

60

70

40

30

20

10

100 200 300 400 500 600

50

(Sine Encoder)

(Resolver)



230 VAC

System Performance: Symbols Units D061A/D061M D062A/D062M D063A/D063M

Peak Torque Tp lb-ft(N-m)

12.5(16.9)

24.7(33.5)

47.5(64.4)

Continuous1

Torque 40˚C

Sine Encoder Tc lb-ft(N-m)

3.9(5.3)

7.2(9.8)

13.1(17.7)

Resolver Tc lb-ft(N-m)

4.3(5.8)

8.0(10.8)

14.5(19.7)

Max. Operating Speed N max rpm(rps)

500(8.3)

500(8.3)

500(8.3)

Sine Encoder System

Resolution - counts/rev 134,217,728 134,217,728 134,217,728

Repeatability - arc/sec < 1 < 1 < 1

Accuracy - arc/sec ±26 ±26 ±26

Resolver System


Repeatability - arc/sec ±2.4 ±2.4 ±2.4


Mechanical:Wt lb

kg20.8(9.4)

25.0(11.3)

30.5(13.8)Weight

Rotor Inertia Jm lb-ft-sec2

(kg-m2)0.0045

(0.0061)0.0052

(0.0071)0.0064

(0.0086)

Static Friction Adder for Sealed Units Tf lb-ft(N-m)

1.8(2.4)

1.8(2.4)

1.8(2.4)

Max. Dynamic Axel Compression Load (See page 33 for Details) - lbf

(kg)4,500

(2,040)4,500

(2,040)4,500

(2,040)

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RPM

lb-ft N-m

000

TORQ

UE

SYSTEM: DH061 WITH AKD-n00607 AT 400/480 VAC

2

4

6

8

10

12

1410

8

6

4

2

16

18

20

100 200 300 400 500 600

12

14

700 800 900

Continuous Duty Zone(Sine Encoder)

(Resolver)


RPM

lb-ft N-m

000

TORQ

UE


10

20

30

40

50

60

50

40

30

20

10

70

100 200 300 400 500 600 700 800 900


(Resolver)


RPM

lb-ft N-m

000

TORQ

UE


5

10

15

20

25

30

3525

20

15

10

5

40

100 200 300 400 500 600 700 800 900


(Resolver)


400/480 VAC

Notes:1. For 25°C ambient, multiply by 1.06.

System Performance: Symbols Units DH061A/DH061M DH062A/DH062M DH063A/DH063M


12.5(16.9)

24.7(32.8)

47.5(64.4)

Continuous1

Torque 40˚C


3.9(5.3)

7.2(9.8)

13.1(17.7)


4.3(5.8)

8.0(10.8)

14.5(19.7)

Max. Operating Speed400/480 V 3 Phase N max rpm

(rps)800

(13.3)800

(13.3)800

(13.3)

Sine Encoder System




Resolver System


Repeatability - arc/sec ±10 ±10 ±10


Mechanical:Wt lb

(kg)20.8(9.4)

25.0(11.3)

30.5(13.8)Weight


(kg-m2)0.0045

(0.0061)0.0052

(0.0071)0.0064

(0.0086)


1.8(2.4)

1.8(2.4)

1.8(2.4)

Max. Dynamic Axel Compression Load(See Page 33 For Details) - lbf

(kg)4,500

(2,040)4,500

(2,040)4,500

(2,040)


Housed DDR D06X Outline Drawings

- B -

- D -- F -

.12 (.005) A- C -

- E -

8X 45

PILOTEND

"E" Ø .38 (.015) F E

8X 45

2230'

8X 45

2230' 8X 45M6X1 X 15 (.59) MIN. DP.8 PL. ON A Ø155 (6.102) BASIC

M

.10 (.004) C .10 (.004) G

.10 (.004) G

.25 (.010) G

M

Ø .38 (.015) F EM M

Ø .38 (.015) D CM M

- E -

- F -

- A -

- G -

175.2 8175.246.9016.899

Ø

Ø

Ø176(6.93)

13.3-14.2(.52-.56)

11.2(.44)

107.97107.934.2514.249

ØØ

.07 (.003) G

175.2 8175.246.9016.899

SIGNALCONNECTOR

POWERCONNECTOR

40.6(1.60)

"A"

3.18-3.93(.125-.155)

3.46-3.60(.136-.142)

1.88-2.03(.074-.0 80)

Ø139.7(5.50)

106(4.18)NOM.

106(4.18)NOM.

147.3(5.80)NOM.

125.6(4.95)NOM.

42.2(1.66)

67.6(2.66)NOM.

68.6(2.70)NOM.

83.8(3.30)NOM.

M6X1 X 12 (.47) MIN. DP.8 PL. ON A Ø80 (3.150) BASIC

Ø .38 (.015) B A M M


"B"

11.5-13.9(.45-.55)

Ø8.82-8.99 (.347-.354) THRU8 PL. ON A Ø200.0 (7. 874) BASIC

13.3-14.2(.52-.56)

220.01219.978.6628.660

FLANGE OPTION 90 CONNECTOR OPTION

STRAIGHT CONNECTOR OPTION

POWER CABLEBEND RADIUS:STATIC - 127 (5.0)DYNAMIC - 191 (7.5)

FEEDBACK CABLEBEND RADIUS:STATIC - 107 (4.2)DYNAMIC - 160 (6.3)

297(11.7)MAX.

394.97(15.55)MAX.

"C" REF.

"D"

"O" RING GROOVE

.10 (.004) C

.12 (.005) C

Dimensions in mm (inches)

Model “A” “B” “C” “D” “E”

D061 91.9(3.62)

37.1-40.1(1.46-1.58)

129.42-130.171(5.095-5.125)

32.59-134.11(5.220-5.280)

Resolver

Ø47.71-47.80(1.878-1.882)

Sine Encoder

Ø42.88-42.98(1.688-1.692)

D062 103.4(4.07)

48.6-51.5(1.91-2.03)

140.85-141.601(5.545-5.575)

44.02-145.54(5.660-5.730)

D063 126.2(4.97)

71.4-74.4(2.81-2.93)

163.71-164.46(6.445-6.475)

166.88-168.40(6.570-6.630)

HO

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DD

R

06

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IN

E

DR

AW

IN

GS

Note: Dimensions "C" and "D" increase by 7.90mm (0.311") on sine encoder models with IP65 or IP67 seals.


HO

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DD

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06

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IN

E

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Notes



Mechanical:Wt lb

(kg)39.5

(17.9)47.5

(21.5)63.6

(28.8)Weight


(kg-m2)0.0106

(0.0144)0.0143

(0.0194)0.0222

(0.0301)


2.0(2.7)

2.0(2.7)

2.0(2.7)

Max. Dynamic Axel Compression Load (See page 33 for details) - lbf

(kg)7,400

(3,360)7,400

(3,360)7,400

(3,360)


RPM

lb-ft N-m

000

TORQ

UE


5

10

15

20

25

35

15

10

5

100 200 300 400 500 600

25

(Sine Encoder)

(Resolver)



40

45

50

30

35

RPM

lb-ft N-m

000

TORQ

UE


10

20

30

40

50

60

70

40

30

20

10

50 100 150 200 250 300

50

(Sine Encoder)

(Resolver)



80

90

100

60

70

350

RPM

lb-ft N-m

000

TORQ

UE

SYSTEM: D083 WITH AKD-X00606 AT 230 VAC

20

40

60

80

100

120

140

80

60

40

20

50 100 150 200 250 300

100

(Sine Encoder)

(Resolver)



160

180

120

230 VAC




33.2(45.0)

68.0(92.2)

118(160)

Continuous1

Torque 40˚C


11.7(15.9)

19.1(25.9)

37.2(50.4)


13.0(17.6)

21.2(28.7)

41.3(56.0)


500(8.3)

300(5.0)

250(4.2)

Sine Encoder System




Resolver System




HO

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08

X

PE

RF

OR

MA

NC

E

DA

TA



Continuous1

Torque 40˚C


11.7(15.9)

19.1(25.9)

37.2(50.4)


13.0(17.6)

21.2(28.7)

41.3(56.0)

Max. Operating Speed 400/480 V 3 Phase N max rpm

(rps)500(8.3)

500(8.3)

400/500(6.7/8.3)

Sine Encoder System




Resolver System




Mechanical:Wt lb

(kg)39.5

(17.9)47.5

(21.5)63.6

(28.8)Weight


(kg-m2)0.0106

(0.0144)0.0143

(0.0194)0.0222

(0.0301)


2.0(2.7)

2.0(2.7)

2.0(2.7)

Max. Dynamic Axel Compression Load(See Page 33 for Details) - lbf

(kg)7,400

(3,360)7,400

(3,360)7,400

(3,360)

RPM

lb-ft N-m

000

TORQ

UE


5

10

15

20

25

30

35

20

15

10

5

100 200 300 400 500 600

25

(Sine Encoder)

(Resolver)



40

45

50

30

35

RPM

lb-ft N-m

000

TORQ

UE


10

20

30

40

50

60

70

40

30

20

10

100 200 300 400 500 600

50

(Sine Encoder)

(Resolver)



80

90

100

60

70

RPM

lb-ft N-m

000

TORQ

UE


20

40

60

80

100

120

140

80

60

40

20

100 200 300 400 500 600

100

(Sine Encoder)

(Resolver)



160

180

120400V

400/480 VAC




33.2(45.0)

68.0(92.2)

118(160)

HO

US

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D

H0

8X

P

ER

FO

RM

AN

CE

D

AT

A



2230 '

8X 45

.12 (.005) A- C -

8X 45

Ø .38 (.015) F E


M M

217.19217.158.5518.549

Ø

11.7-12.7(.46-.50)

- E -

260.14260.0510.24210.238

Ø

Ø218.4(8.60)

50.8(2.00)

"A"

"B"

"C" REF.

"D"

11.5-13.9(.45-.55)

3.18-3.93(.125-.155)

217.19217.158.5518.549

- A -

Ø

- B -

- D -- F -

PILOTEND

11.2(.44)

Ø .38 (.015) B AM M


8X 45

Ø .38 (.015) D CM M


147.3(5.80)NOM.

67.6(2.66)NOM.

42.2(1.66)

127.8(5.03)NOM.

.10 (.004) C

133.37133.335.2515.249

Ø

Ø172(6.77)

1.88-2.03(.074-.080)

3.46-3.60(.136-.142)

2230 '

8X 45

Ø8.82-8.99 (.347-.354) THRU8 PL. ON A Ø240.00 (9.449) BASIC

Ø .38 (.015) F EM M

11.7-12.7(.46-.50)

- F -

FLANGE OPTION

127.8(5.03)NOM.

167.9(6.61)NOM.

68.1(2.68)NOM.

83.6(3.29)NOM.

90 CONNECTOR OPTION




297(11.7)MAX.

416.56(16.40)MAX.

SIGNALCONNECTOR

POWERCONNECTOR

"O" RING GROOVE

.07 (.003) G

- E - .10 (.004) G

.25 (.010) G

.12 (.005) G

.10 (.004) C .10 (.004) C


"E"


D081 107.7(4.24)

42.7-45.7(1.68-1.80)

144.66-145.41(5.695-5.725)

147.83-149.35(5.820-5.880)

Resolver

Ø63.45-63.55(2.498-2.502)

Sine Encoder

Ø42.88-42.98(1.688-1.692)

D082 128.0(5.04)

63.0-66.0(2.48-2.60)

164.98-165.73(6.495-6.525)

168.15-169.67(6.620-6.680)

D083 168.7(6.64)

71.4-74.4(4.08-4.20)

163.71-164.46(8.095-8.125)

166.88-168.40(8.220-8.280)

HO

US

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D

08

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IN

E

DR

AW

IN

GS

Dimensions "C" and "D" increase by 8.64mm (0.340") on sine encoder models with IP65 or IP67 seals.


HO

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10

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OR

MA

NC

E

DA

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Notes


RPM

lb-ft N-m

000

TORQ

UE


20

40

60

80

100

120

140

60

40

20

50 100 150 200 250 300

100

(Sine Encoder)

(Resolver)



120

350

RPM

lb-ft N-m

000

TORQ

UE


50

100

150

200

250

100

50

50 100 150 200 250

150

(Sine Encoder)

(Resolver)



RPM

lb-ft N-m

000

TORQ

UE


100

200

300

400

500

200

100

20 40 60 80 100

300

(Sine Encoder)

(Resolver)



120 140

600

400

230 VAC




95.0(129)

167(227)

370(501)

Continuous1

Torque 40˚C


25.5(34.6)

46.8(63.4)

85.0(115)


30.0(40.7)

55.0(74.6)

100(136)


300(5.0)

200(3.3)

120(2.0)

Sine Encoder System




Resolver System




Mechanical:Wt lb

(kg)69.5

(31.5)96.5

(43.8)134

(60.8)Weight


(kg-m2)0.0511

(0.0693)0.0732

(0.0992)0.129

(0.175)


2.6(3.5)

2.6(3.5)

2.6(3.5)


(kg)11,700(5,300)

11,700(5,300)

11,700(5,300)


HO

US

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H1

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RM

AN

CE

D

AT

A


RPM

lb-ft N-m

000

TORQ

UE


20

40

60

80

100

120

140

60

40

20

50 100 150 200 250 300

100

(Sine Encoder)

(Resolver)



120

350

RPM

lb-ft N-m

000

TORQ

UE


200

300

400

500

600

400

300

200

100

50 100 150 200 250 300

(Sine Encoder)

(Resolver)



400V

100

RPM

lb-ft N-m

000

TORQ

UE


50

100

150

200

250

100

50

50 100 150 200 250

150

(Sine Encoder)

(Resolver)



300 350

400V

400/480 VAC




95.0(129)

167(227)

370(501)

Continuous1

Torque 40˚C


25.5(34.6)

46.8(63.4)

85.0(115)


30.0(40.7)

55.0(74.6)

100(136)


(rps)300

(5.0/5.0)300

(5.0/5.0)200/250(3.3/4.3)

Sine Encoder System




Resolver System




Mechanical:Wt lb

(kg)69.5

(31.5)96.5

(43.8)134

(60.8)Weight


(kg-m2)0.0511

(0.0693)0.0732

(0.0992)0.129

(0.175)

Static Friction Adder For Sealed Units Tf lb-ft

(N-m)2.6

(3.5)2.6

(3.5)2.6

(3.5)

Max. Dynamic Axel Compression Load (See Page 33 For Details) - lbf

(kg)11,700(5,300)

11,700(5,300)

11,700(5,300)

HO

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A


2230'

Ø

3.6 (.14)

59.7(2.35)

PILOTEND

Ø

2230'

Ø284.2(11.19)

280.02279.9011.02511.020

.45-.55(11.5-13.9)

1.88-2.03(.074-.080)

3.46-3.60(.136-.142)

Ø229.9(9.05)

13.8-14.7(.54-.58)

13.8-14.7(.54-.58)

Ø8.81-8.97 (.347-.354) THRU8 PL. ON A Ø310.00 (12.205) BASIC

"C" REF.

"D"

11.2(.44)

M8X1.25 X 20.3 (.80) MIN. DP.8 PL. ON A Ø250.00 (9.843) BASIC

330.06329.9412.99512.990

SIGNALCONNECTOR

POWERCONNECTOR

"A"

"B"

177.82177.787.0016.999

280.02279.9011.02511.020

Ø

Ø

160.9(6.34)NOM.

42.2(1.66)NOM.

67.6(2.66)NOM.



180.5(7.11)NOM.

FLANGE OPTION

"O" RING GROOVE

160.9(6.34)NOM.

200.9(7.91)NOM.

68.2(2.68)NOM.

83.7(3.29)NOM.

90° CONNECTOR OPTION




297(11.7)MAX.

449.83(17.71)MAX.

.12 (.005) A- C -

8X 45

Ø .38 (.015) F E

8X 45

8X 45

8X 45

M M Ø .38 (.015) D CM M

Ø .38 (.015) B AM M

- A -

- B -

- D -

- G -

Ø .38 (.015) F EM M

.10 (.004) C

.07 (.003) G

- E - .10 (.004) G

- E - .10 (.004) G

- F - .12 (.005) G

.12 (.005) G

.10 (.004) C

- F - .25 (.010) G


"E"


D101 110.5(4.35)

36.6-39.6(1.44-1.56)

152.53-153.28(6.005-6.035)

155.71-157.22(6.130-6.190)

Resolver

Ø73.07-72.98(2.877-2.873)

Sine Encoder

Ø42.88-42.98(1.688-1.692)

D102 142.2(5.60)

68.4-71.3(2.69-2.81)

184.28-185.03(7.255-7.285)

187.46-188.97(7.380-7.440)

D103 205.7(8.10)

131.9-134.8(5.19-5.31)

247.78-248.53(9.755-9.785)

250.96-252.47(9.880-9.940)


HO

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10

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IN

E

DR

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IN

GS

Note: Dimensions "C" and "D" increase by 7.57mm (0.298") on sine encoder models with IP65 or IP67 seals.


HO

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IN

E

DR

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IN

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Notes


RPM

lb-ft N-m

000

TORQ

UE


50

100

150

200

250

100

50

50 100 150 200 250

150

(Sine Encoder)

(Resolver)



300

350

400

200

250

RPM

lb-ft N-m

000

TORQ

UE


100

200

300

400

500

200

100

20 40 60 80 100

300Intermittent Duty Zone


120 140

600

400

RPM

lb-ft N-m

000

TORQ

UE


200

400

600

800

1000

400

200

10 20 30 40 50



60 70

1200800

1400

1600

1000

230 VAC


System Performance: Symbols Units D141M D142M D143M


271(367)

383(519)

989(1341)

Continuous1

Torque 40˚C Sine Encoder Tc lb-ft(N-m)

80.0(108)

135(183)

250(339)


200(3.3)

120(2.0)

60(1.0)

Sine Encoder System





HO

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NC

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System Performance: Symbols Units D141M D142M D143M

Mechanical:Wt lb

kg131

(59.4)191

(86.6)323

(146)Weight


(kg-m2)0.120

(0.163)0.202

(0.274)0.400

(0.542)


2.6(3.5)

2.6(3.5)

2.6(3.5)


(kg)12,700(5,760)

12,700(5,760)

12,700(5,760)


400/480 VAC

RPM

lb-ft N-m

000

TORQ

UE


50

100

150

200

250

100

50

50 100 150 200 250

150

(Sine Encoder)

(Resolver)



300 350

300

350

400

200

250

RPM

lb-ft N-m

000

TORQ

UE


100

200

300

400

500

200

100

50 100 150 200 250



300 350

600

400

400V

RPM

lb-ft N-m

000

TORQ

UE


200

400

600

800

1000

400

200

20 40 60 80 100



120 140

1200

800

14001000 400V Limit


System Performance: Symbols Units DH141M DH142M DH143M


271(367)

383(519)

989(1341)

Continuous1

Torque 40˚C Sine Encoder Tc lb-ft(N-m)

80.0(108)

135(183)

250(339)


(rps)300(5)

250/300(4.2/5)

120(2)

Sine Encoder System




HO

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A

System Performance: Symbols Units DH141M DH142M DH143M

Mechanical:Wt lb

(kg)131

(59.4)191

(86.6)323

(146)Weight


(kg-m2)0.120

(0.163)0.202

(0.274)0.400

(0.542)


2.6(3.5)

2.6(3.5)

2.6(3.5)


(kg)12,700(5,760)

12,700(5,760)

12,700(5,760)


Ø9.07-9.24 (.357-.364) THUR 12PL. ON A Ø384.99 (15.157) BASIC

Ø.53 (.021) M F H M

15°

12X30°

12X30

.25 (.010) C-F-

18.04-18.54(.710-.730)

.30 (.018) C-H-

.10 (.004) C-D-

.12 (.005) C-B-

"A"

"B""C"

NOM.2PL.

19.1 (.75)

3.26-3.86(.128-.152)

218.1 (8.59)2PL. REF

"D"NOM.

Ø361.83-361.95(14.245-14.250)

.12 (.005) C-A-

Ø177.78-177.82(6.999-7.001)

.10 (.005) C-G-

15.76-16.36(.620-.644)

Ø360.7(14.20)

90° ROTATABLE SIGNALCONNECTOR

90° ROTATABLE POWERCONNECTOR

M8X1.25X20.3 (.91) MIN. DEEP12PL. ON A Ø330 (12.992) BASIC

Ø.53 (.021) M B A M

M8X1.25X14.2 (.56) MIN. DEEP12PL. ON A Ø150.01 (5.906) BASIC

Ø.53 (.021) M D G M

8°

15°12X30°

12X30°

Ø42.88-42.97(1.688-1.692)THRU BORE.13 (.005) C

Ø74.2(2.92)

1.88-2.03(.074-.080)

Ø229.9(9.05)

3.46-3.60(.136-.142)

Ø247.7(9.75)

3.46-3.60(.136-.142)

1.88-2.03(.074-.080)

45°

M10X1.25 X 19.1 (.75) DEEP2 PL. EQ. SPACED ON A Ø342.9 (13.50)

(HOLES PROVIDED FOR LIFTING)

M10X1.5X.80 (20.3) MIN. DEEP2PL. EQ. SPACED ON A Ø 13.00 (330.2)

M8X1.25 X 19.1 (.75) MIN DP12 PL. ON A Ø300.00 (11.811) BASIC

Ø.53 (.021) M F H M

15°

12X30°

Ø361.83-361.95(14.245-14.250)

.30 (.018) C-H-

45° M10X1.25 X 19.1 (.75) DEEP2 PL. EQ. SPACED ON A Ø 337.3 (13.28)(HOLES PROVIDED FOR LIFTING)

FACE MOUNT OPTION

90 CONNECTOR OPTION

288.97(11.37)MAX.

POWER CABLEBEND RADIUS:STATIC-127 (5.0)DYNAMIC-191 (7.5)

FEEDBACK CABLEBEND RADIUS:STATIC-107 (4.2)DYNAMIC-160 (6.3)

275.9(10.85)MAX.



Model “A” “B” “C” “D”

D141 155.92-157.02(6.138-6.182)

152.66-153.16(6.010-6.030)

75.5(2.97)

76.7(3.02)

D142 219.42-220.52(8.638-8.682)

216.16-216.66(8.510-8.530)

138.9(5.47)

108.5(4.27)

D143 346.42-347.52(13.638-13.682)

343.16-343.66(13.510-13.530)

266.0(10.47)

172.0(6.77)


HO

US

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D

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D

14

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TL

IN

E

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IN

GS


HO

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DR

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14

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IN

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Notes


Custom Applications

CU

ST

OM

A

PP

LI

CA

TI

ON

S

PRECISION DOWEL PIN HOLES 0.250" FOR CUSTOMER INDEXING

DDR MOTOR, ENCODER OPTION WITH DUAL SHAFT SEALS, IP67

DDR WITH PRECISION TOLERANCE COMPONENTS FOR PRECISE POSITIONING

DDR WITH AIR COOLING OPTION TO INCREASE CONTINUOS OUTPUT TORQUE


AP

PL

IC

AT

IO

N

NO

TE

S

Application Notes

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Application notes:Axial load ratings dynamic values based on an L10 life rating when motor is mounted on a rigid base and running under normal operating conditions. For L10 life ratings for applications where high rotational accuracyis desired or operation during vibration or shock, please contact Customer Support.Moment load ratings are limited by shaft deflection at the resolver;for sine encoder units please contact Customer Support.Standard motor is not designed for repetitive small angle oscillations less than ± 13°.Please contact Customer Support for additional options.Motor is not intended to be directly coupled to a load which has it’s own two bearing system.A flexible coupling is advised to prevent premature bearing failure in these applications.Motor may be mounted in any orientation provided the axial (both tension and compression) limits are observed.All applications having moment loads in tension should be reviewed by Customer Support.All bolts for mounting load and base should be used to ensure stiff coupling.

System Cable Sets with SERVO STAR ®

"L"

LC

"D"

"D"

of bearing

RadialForce

Moment Load = Force * (D + L)

Moment Load = Force * D

Compression

OffsetAxialForce

Tension

L = 0

Maximum Moment Load Maximum Axial Load Ratings

Single Bearing Dual Bearinglbs kg

Model lb-ft N-m lb-ft N-m

Model Dim. “L” (in)

D(H)06x (1.05)

D(H)08x (1.21)

D(H)10x (1.58)

D(H)14x (1.44)

Application Notes:1. Axial load rating dynamic values based on an L10 life rating when motor is mounted on a rigid base and running under

normal operation conditions. L10 life ratings for applications where high rotational accuracy is desired or operation during vibration or shock, please contact customer support at (540) 633-3545, or through email at [email protected].

2. Standard motor is not designed for repetitive small angle oscillations less than ± 13°. Please contact customer support for additional options.

3. Motor is not intended to be directly coupled to a load which has its own two bearing system.4. Motor may be mounted in any orientation provided the axial (both tension and compression) limits are observed. All

applications having moment loads in tension should be reviewed by Customer Support.5. All bolts for mounting load and base should be used to ensure stiff coupling.

D061 53.3 72.3 71.7 97.2Compression

Tension4500932

2040423D062 47.5 64.4 79.5 108

D063 43.4 58.9 87.2 118

D081 62.6 84.9 114 154Compression

Tension7400819

3360371D082 52.3 70.9 131 177

D083 39.3 53.3 174 236

D101 142 192 322 437Compression

Tension117001405

5300637D102 108 146 279 378

D103 72.6 98.4 305 413

D141 234 317 472 640Compression

Tension117001405

5300637D142 134 182 409 555

D143 N/A N/A 391 530


MO

DE

L

NO

ME

NC

LA

TU

RE

DH 08 1 M - 1 2 - 1 3 1 0 - xxx

Direct Drive Series D = 115/230 VAC winding DH = 400/480 VAC winding

Motor Frame Size 06 = 6.93” O.D. 08 = 8.60” O.D. 10 = 11.19” O.D. 14 = 14.25” O.D.

Rotor Stack Length 1 = Short stack 2 = Mid stack 3 = Long stack

Winding Type A = Std. w/ resolver1

M = Std. w/ sine encoder

Mounting Option 1 = Face mount 2 = Flange mount

Designated for Specials

Unit Seal 0 = Non-sealed unit 5 = IP652 - length increase 7 = IP672 - length increase

Bearing Option 1 = Single bearing design 2 = Dual bearing design3

Feedback Device 2 = Resolver (“A” Winding Type)1

3 = Sine Encoder (“M” Winding Type)

Shaft Option 1= Straight thru bore w/ face coupling

Connector Type 2 = Straight 3 = 90o, rotatable

Notes:1. Not available on D14x & DH14x.2. Encoder sealed motors have increased length. See outline drawing. 3. Standard on D143 & DH143 models.4. Options shown in bold blue text are considered standard.

Housed DDR Motor MO

DE

L

NO

ME

NC

LA

TU

RE

Model Nomenclature

Features• Group multiple mechanisms within a “project” – organize and combine data for power supply and regeneration sizing

• Types of mechanisms for analysis include lead screw, rack and pinion, conveyor, nip rolls, rotary and direct drive linear motor

• Motion profi le options include simple triangle, 1/3-1/3-1/3 trapezoidal, variable traverse trapezoidal, and more

• Search results display shows color highlighted solution set of options for easy evaluation of system specifi cations and selection

Supported Operating Systems

• Microsoft® Windows 2000, XP, Vista, Windows 7

MOTIONEERING 6.4.0 includes• NEW AKMH series Stainless Steel Motors and AKD systems at 120, 240, 400 and 480 V

• Designed to meet IP69K, EHEDG, 3A, and built with FDA approved food grade materials • 19 frame/stack length combinations • Continuous torque to 22 Nm • Peak torque to 92 Nm

• Corrected length dimensions of some AKM servomotor & gearmotor models

• Corrected CH132 thermal resistance

• Added HIPERFACE DSL sine encoder to search fi eld

Note: Performance curves included for all servomotor systems

MOTIONEERING® Application Engine

To help select and size Kollmorgen components, this Windows®-based motor-sizing program takes a systems approach tothe selection of brushless DC servomotors, stepper motors and drives. MOTIONEERING application engine, available atwww.kollmorgen.com, uses a project concept for the collection and saving of rotary and linear multi-axis load information.This provides the user the fl exibility to sum the effects of multiple axes of motion for power supply and shunt regeneration sizing.

A wide variety of linear and rotary mechanisms are provided including lead screw, rack and pinion, conveyor, nip rolls, cylinder, rotary, and direct data-entry using unique sizing algorithms and product databases criteria.

The searchable database consists of hundreds of systems on product combinations including rotary housed and frameless brushless servomotors, direct drive rotary and linear brushless servomotors, linear actuators (electric cylinders, rodless actuators, and precision tables) and stepper systems.

The MOTIONEERING application engine also provides versatile units-of-measure selection options for mechanism and motion profi le data-entry, with the ability to convert data into other available units. Online Help explains program functions and the defi nition of terms and equations used in the program.

MO

TI

ON

EE

RI

NG

A

PP

LI

CA

TI

ON

E

NG

IN

E

Version

B = Base driveC = Central power supply for AKD-N (Requires CB Extention)N = Decentralized drive (Requires DB, DF, or DS Extention) P = Position indexer (motion tasking)T = AKD BASIC Language Programmable drive (Requires IC or NB Extention)M = Multi-axis Master Drive (Requires MC Extension option, and EC Connectivity option)

AKD Series

Connectivity*AN = Analog commandCC = CANopen OR EtherCATCN = CANopenEC = EtherCATEI = EtherNet/IPPN - PROFINETSQ = SynqNet

B, P, TPPC, M, N, PPPB

Voltage

06 = 120/240 Vac 1Ø/3Ø (24 Amp Drive: 240 Vac 3Ø only)

07 = 240/480 Vac 3Ø (Version C: 07 = 400/480 Vac 3Ø | Version N: 07 = 560/680 Vdc)

Extension

CB = without extentionDB = hybrid motor cableDF = additional EtherCAT port + feedback connectorDS = local STO + feedback connectorIC = Expanded I/O version and SD card slot (“T” version drive only)NB = Without extensions

Current Rating003 = 3 Amp

006 = 6 Amp

010 = 10kW (With Version C, this fi eld refers to power.)

012 = 12 Amp

024 = 24 Amp

AKD – B 003 06 – NB AN – 0000

Note: Options shown in bold blue text are considered standard.

Variants

0000 = Standard

AKD Servo Drive

*Motion Tasking is included as a free upgrade with CC, CN, EC, EI and PN

Drive VersionAvailability

Version

B = Base driveC = Central power supply for AKD-N (Requires CB Extention)N = Decentralized drive (Requires DB, DF, or DS Extention) P = Position indexer (motion tasking)T = AKD BASIC Language Programmable drive (Requires IC or NB Extention)M = Multi-axis Master Drive (Requires MC Extension option, and EC Connectivity option)

AKD Series

Connectivity*AN = Analog commandCC = CANopen OR EtherCATCN = CANopenEC = EtherCATEI = EtherNet/IPPN - PROFINETSQ = SynqNet

B, P, TPPC, M, N, PPPB

Voltage

06 = 120/240 Vac 1Ø/3Ø (24 Amp Drive: 240 Vac 3Ø only)

07 = 240/480 Vac 3Ø (Version C: 07 = 400/480 Vac 3Ø | Version N: 07 = 560/680 Vdc)

Extension

CB = without extentionDB = hybrid motor cableDF = additional EtherCAT port + feedback connectorDS = local STO + feedback connectorIC = Expanded I/O version and SD card slot (“T” version drive only)NB = Without extensions

Current Rating003 = 3 Amp

006 = 6 Amp

010 = 10kW (With Version C, this fi eld refers to power.)

012 = 12 Amp

024 = 24 Amp

AKD – B 003 06 – NB AN – 0000

Note: Options shown in bold blue text are considered standard.

Variants

0000 = Standard

AKD Servo Drive

*Motion Tasking is included as a free upgrade with CC, CN, EC, EI and PN

Drive VersionAvailability

AKD Servo Drive


Features• Group multiple mechanisms within a “project” – organize and combine data for power supply and regeneration sizing

• Types of mechanisms for analysis include lead screw, rack and pinion, conveyor, nip rolls, rotary and direct drive linear motor

• Motion profi le options include simple triangle, 1/3-1/3-1/3 trapezoidal, variable traverse trapezoidal, and more

• Search results display shows color highlighted solution set of options for easy evaluation of system specifi cations and selection

Supported Operating Systems

• Microsoft® Windows 2000, XP, Vista, Windows 7

MOTIONEERING 6.4.0 includes• NEW AKMH series Stainless Steel Motors and AKD systems at 120, 240, 400 and 480 V

• Designed to meet IP69K, EHEDG, 3A, and built with FDA approved food grade materials • 19 frame/stack length combinations • Continuous torque to 22 Nm • Peak torque to 92 Nm

• Corrected length dimensions of some AKM servomotor & gearmotor models

• Corrected CH132 thermal resistance

• Added HIPERFACE DSL sine encoder to search fi eld

Note: Performance curves included for all servomotor systems

MOTIONEERING® Application Engine

To help select and size Kollmorgen components, this Windows®-based motor-sizing program takes a systems approach tothe selection of brushless DC servomotors, stepper motors and drives. MOTIONEERING application engine, available atwww.kollmorgen.com, uses a project concept for the collection and saving of rotary and linear multi-axis load information.This provides the user the fl exibility to sum the effects of multiple axes of motion for power supply and shunt regeneration sizing.

A wide variety of linear and rotary mechanisms are provided including lead screw, rack and pinion, conveyor, nip rolls, cylinder, rotary, and direct data-entry using unique sizing algorithms and product databases criteria.

The searchable database consists of hundreds of systems on product combinations including rotary housed and frameless brushless servomotors, direct drive rotary and linear brushless servomotors, linear actuators (electric cylinders, rodless actuators, and precision tables) and stepper systems.

The MOTIONEERING application engine also provides versatile units-of-measure selection options for mechanism and motion profi le data-entry, with the ability to convert data into other available units. Online Help explains program functions and the defi nition of terms and equations used in the program.

MO

TI

ON

EE

RI

NG

A

PP

LI

CA

TI

ON

E

NG

IN

E

Kollmorgen203A West Rock RoadRadford, VA 24141 USAPhone: 1-540-633-3545Fax: 1-540-639-4162

About Kollmorgen

Kollmorgen is a leading provider of motion systems and components for machine builders. Through world-class knowledge in motion, industry-leading quality and deep expertise in linking and integrating standard and custom products, Kollmorgen delivers breakthrough solutions that are unmatched in performance, reliability and ease-of-use, giving machine builders an irrefutable marketplace advantage.

For assistance with your application needs in North America, contact us at: 540-633-3545, [email protected] or visit www.kollmorgen.com for a global contact list.

Application Centers

Global Design & Manufacturing

Global Manufacturing

Kollmorgen Europe GmbHPempelfurtstraße 140880 RatingenGermanyPhone: +49 (0) 2102 9394 0Fax: +49 (0) 2102 9394 3155

Kollmorgen AsiaChinaRm 2205, Scitech Tower22 Jianguomen Wai StreetPhone: +86 400 666 1802Fax: +86 10 6515 0263

Kollmorgen Aerospace and Defense501 West Main StreetRadford, VA 24141 USAPhone: 1-540-731-5668Fax: 1-540-731-5679

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© 2014 Kollmorgen Corporation. All rights reserved. KM_SG_00220_RevA_EN Specifications are subject to change without notice. It is the responsibility of the product user to determine the suitability of this product for a specific application. All trademarks are the property of their respective owners.

Documents

Kollmorgen Housed Direct Drive Rotary (DDR) Motors Selection …€¦ · Kollmorgen Housed Direct Drive Rotary (DDR) Motors Selection Guide with AKD TM Servo Drive Systems. Kollmorgen